Just to add - the manager at the head of the taxi rank will get you the size taxi you need for your group. He may ask you to step aside to wait for a bigger van to drive forward from the taxi holding area, then will signal you forward when yours arrives.
Like Janettravels, I read recently on TA that a traveler had gotten scammed at CDG by someone who told them the taxi rank was not for taxis to Paris which is a downright lie. Only go to the official taxi rank. You may be in line for a bit but it moves quickly as they load 3-4 cabs at a time. This was a twist on the touts coming up to people as they exit the International area asking if they need a taxi.
I also type out the name and complete address of the hotel and tape it to a 3x5 card. I just hand it to the driver so I don't have to worry about pronunciation.